probe: Move code from bed_tilt and delta_calibrate into ProbePointsHelper
Move the common config reading and probe object lookup from the bed_tilt.py and delta_calibrate.py code into the ProbePointsHelper class. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
parent
11816295e7
commit
c5bff88943
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@ -31,26 +31,15 @@ class BedTilt:
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# Helper script to calibrate the bed tilt
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class BedTiltCalibrate:
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def __init__(self, config, bedtilt):
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self.bedtilt = bedtilt
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self.printer = config.get_printer()
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points = config.get('points').split('\n')
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try:
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points = [line.split(',', 1) for line in points if line.strip()]
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self.points = [(float(p[0].strip()), float(p[1].strip()))
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for p in points]
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except:
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raise config.error("Unable to parse bed tilt points")
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if len(self.points) < 3:
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raise config.error("Need at least 3 points for bed_tilt_calibrate")
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self.speed = config.getfloat('speed', 50., above=0.)
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self.horizontal_move_z = config.getfloat('horizontal_move_z', 5.)
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self.bedtilt = bedtilt
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self.probe_helper = probe.ProbePointsHelper(config, self)
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# Automatic probe:z_virtual_endstop XY detection
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self.z_position_endstop = None
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if config.has_section('stepper_z'):
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zconfig = config.getsection('stepper_z')
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self.z_position_endstop = zconfig.getfloat('position_endstop', None)
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self.manual_probe = config.getboolean('manual_probe', None)
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if self.manual_probe is None:
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self.manual_probe = not config.has_section('probe')
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# Register BED_TILT_CALIBRATE command
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self.gcode = self.printer.lookup_object('gcode')
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self.gcode.register_command(
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'BED_TILT_CALIBRATE', self.cmd_BED_TILT_CALIBRATE,
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@ -58,9 +47,7 @@ class BedTiltCalibrate:
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cmd_BED_TILT_CALIBRATE_help = "Bed tilt calibration script"
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def cmd_BED_TILT_CALIBRATE(self, params):
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self.gcode.run_script("G28")
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probe.ProbePointsHelper(
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self.printer, self.points, self.horizontal_move_z,
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self.speed, self.manual_probe, self)
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self.probe_helper.start_probe()
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def get_position(self):
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kin = self.printer.lookup_object('toolhead').get_kinematics()
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return kin.get_position()
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@ -11,29 +11,25 @@ class DeltaCalibrate:
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self.printer = config.get_printer()
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if config.getsection('printer').get('kinematics') != 'delta':
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raise config.error("Delta calibrate is only for delta printers")
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self.radius = config.getfloat('radius', above=0.)
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self.speed = config.getfloat('speed', 50., above=0.)
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self.horizontal_move_z = config.getfloat('horizontal_move_z', 5.)
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self.manual_probe = config.getboolean('manual_probe', None)
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if self.manual_probe is None:
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self.manual_probe = not config.has_section('probe')
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# Calculate default probing points
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radius = config.getfloat('radius', above=0.)
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points = [(0., 0.)]
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scatter = [.95, .90, .85, .70, .75, .80]
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for i in range(6):
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r = math.radians(90. + 60. * i)
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dist = radius * scatter[i]
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points.append((math.cos(r) * dist, math.sin(r) * dist))
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self.probe_helper = probe.ProbePointsHelper(
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config, self, default_points=points)
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# Register DELTA_CALIBRATE command
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self.gcode = self.printer.lookup_object('gcode')
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self.gcode.register_command(
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'DELTA_CALIBRATE', self.cmd_DELTA_CALIBRATE,
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desc=self.cmd_DELTA_CALIBRATE_help)
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cmd_DELTA_CALIBRATE_help = "Delta calibration script"
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def cmd_DELTA_CALIBRATE(self, params):
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# Setup probe points
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points = [(0., 0.)]
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scatter = [.95, .90, .85, .70, .75, .80]
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for i in range(6):
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r = math.radians(90. + 60. * i)
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dist = self.radius * scatter[i]
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points.append((math.cos(r) * dist, math.sin(r) * dist))
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# Probe them
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self.gcode.run_script("G28")
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probe.ProbePointsHelper(self.printer, points, self.horizontal_move_z,
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self.speed, self.manual_probe, self)
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self.probe_helper.start_probe()
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def get_position(self):
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kin = self.printer.lookup_object('toolhead').get_kinematics()
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return kin.get_stable_position()
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@ -132,26 +132,50 @@ class ProbeVirtualEndstop:
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# Helper code that can probe a series of points and report the
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# position at each point.
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class ProbePointsHelper:
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def __init__(self, printer, probe_points, horizontal_move_z, speed,
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manual_probe, callback):
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self.printer = printer
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self.probe_points = probe_points
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self.horizontal_move_z = horizontal_move_z
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self.speed = self.lift_speed = speed
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self.manual_probe = manual_probe
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def __init__(self, config, callback, default_points=None):
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self.printer = config.get_printer()
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self.callback = callback
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self.toolhead = self.printer.lookup_object('toolhead')
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self.probe_points = default_points
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# Read config settings
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if default_points is None or config.get('points', None) is not None:
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points = config.get('points').split('\n')
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try:
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points = [line.split(',', 1) for line in points if line.strip()]
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self.probe_points = [(float(p[0].strip()), float(p[1].strip()))
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for p in points]
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except:
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raise config.error("Unable to parse probe points in %s" % (
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config.get_name()))
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if len(self.probe_points) < 3:
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raise config.error("Need at least 3 points for %s" % (
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config.get_name()))
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self.horizontal_move_z = config.getfloat('horizontal_move_z', 5.)
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self.speed = self.lift_speed = config.getfloat('speed', 50., above=0.)
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# Lookup probe object
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self.probe = None
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self.probe_z_offset = 0.
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manual_probe = config.getboolean('manual_probe', None)
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if manual_probe is None:
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manual_probe = not config.has_section('probe')
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if not manual_probe:
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self.printer.try_load_module(config, 'probe')
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self.probe = self.printer.lookup_object('probe')
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self.lift_speed = min(self.speed, self.probe.speed)
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self.probe_z_offset = self.probe.z_offset
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# Internal probing state
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self.results = []
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self.busy = True
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self.busy = False
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self.gcode = self.toolhead = None
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def start_probe(self):
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# Begin probing
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self.toolhead = self.printer.lookup_object('toolhead')
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self.gcode = self.printer.lookup_object('gcode')
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self.gcode.register_command(
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'NEXT', self.cmd_NEXT, desc=self.cmd_NEXT_help)
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# Begin probing
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self.results = []
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self.busy = True
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self.move_next()
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if not manual_probe:
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probe = self.printer.lookup_object('probe', None)
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if probe is not None:
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self.lift_speed = min(self.lift_speed, probe.speed)
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if self.probe is not None:
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while self.busy:
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self.gcode.run_script("PROBE")
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self.cmd_NEXT({})
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@ -183,11 +207,7 @@ class ProbePointsHelper:
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self.gcode.reset_last_position()
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self.gcode.register_command('NEXT', None)
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if success:
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z_offset = 0.
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if not self.manual_probe:
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probe = self.printer.lookup_object('probe')
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z_offset = probe.z_offset
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self.callback.finalize(z_offset, self.results)
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self.callback.finalize(self.probe_z_offset, self.results)
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def load_config(config):
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return PrinterProbe(config)
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